Design and Mathematical Modeling of a Pneumatic Artificial Muscle-Actuated System for Industrial Manipulators

Kotkas, Lyubov; Zhurkin, Nikita; Donskoy, Anatolij; Жарковский, А. А.

doi:10.3390/machines10100885

Cited by 8 publications

(3 citation statements)

References 15 publications

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“…Due to the specific structure of PAMs and their significant nonlinear phenomena, many researchers have studied the relationship between the force, applied air pressure, length and contraction ratio to derive a suitable expression for the equation of the force generated by PAMs. Various designs of PAM have been developed in the literature and several static and dynamic models have been proposed [ 2 , 20 , 21 ]. The most commonly used expression is a static force model, which specifies the force as a function of air pressure and contraction rate.…”

Section: Methodsmentioning

confidence: 99%

Design, Construction and Control of a Manipulator Driven by Pneumatic Artificial Muscles

Šitum

Herceg

Bolf

et al. 2023

Sensors

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This paper describes the design, construction and experimental testing of a single-joint manipulator arm actuated by pneumatic artificial muscles (PAMs) for the tasks of transporting and sorting work pieces. An antagonistic muscle pair is used in a rotational sense to produce a required torque on a pulley. The concept, operating principle and elementary properties of pneumatic muscle actuators are explained. Different conceptions of the system realizations are analyzed using the morphological-matrix conceptual design framework and top-rated solution was practically realized. A simplified, control-oriented mathematical model of the manipulator arm driven by PAMs and controlled with a proportional control valve is derived. The model is then used for a controller design process. Fluidic muscles have great potential for industrial applications and assembly automation to actuate new types of robots and manipulators. Their characteristics, such as compactness, high strength, high power-to-weight ratio, inherent safety and simplicity, are worthy features for advanced manipulation systems. The experiments were carried out on a practically realized manipulator actuated by a pair of muscle actuators set into an antagonistic configuration. The setup also includes an original solution for the subsystem to add work pieces in the working space of the manipulator.

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Section: Methodsmentioning

confidence: 99%

Design, Construction and Control of a Manipulator Driven by Pneumatic Artificial Muscles

Šitum

Herceg

Bolf

et al. 2023

Sensors

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show abstract

“…A system of differential equations describing the non-stationary, one-dimensional flow of a compressible gas and including the equation of continuity, motion, conservation of energy and state will be written as [31,32]:…”

Section: Mathematical Model Of Fluid Flow In a Gas Pipementioning

confidence: 99%

Development and Research of a Promising Pumpless Liquid Cooling System for Reciprocating Compressors

et al. 2023

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A new pumpless liquid cooling system for a single-stage two-cylinder reciprocating compressor has been developed from the analysis of work processes and cooling systems of reciprocating compressors, where one piston compresses and moves gas and coolant in the cooling system. The intensification of the coolant movement increases in the machine, which can reduce the temperature of the cylinder–piston group and increase the indicator efficiency and the compressor feed rate. A mathematical model of working processes in a reciprocating compressor and its cooling system has been developed on the basic fundamental laws of conservation of energy, mass and motion. A prototype was developed and tested to obtain new knowledge about the processes in the machine and confirm the assumptions made while developing the mathematical model. After a series of experiments, the influence of cooling on the working processes in a reciprocating compressor, the technical work carried out in each working process, the energy and consumption characteristics of a reciprocating compressor with a developed cooling system were established. There was a validation performed of the developed mathematical model of work processes in the machine and the assumptions made. According to the developed mathematical model of work processes, a numerical experiment was carried out, which established: the coolant flow rate decreases with an increase in discharge pressure and increases with an increase in the crankshaft speed when the discharge pressure changes from 0.4 MPa to 0.8 MPa, a decrease in the indicator isothermal efficiency due to the leakage and non-isothermal nature of the compression process, as well as a decrease in the return work in the process of reverse expansion, leading to a decrease in the indicator isothermal efficiency of more than 15%; due to the equalization of pressures in the gas cavities with an increase in discharge pressure, the coolant consumption is reduced by (15 ± 17)%; with an increase in the angular speed of the crankshaft from 800 rpm to 1500 rpm, the coolant flow rate increases by more than 2.5 times, this increase in coolant flow rate is due to an increase in hydraulic resistance due to an increase in gas velocity; in the range from 1000 to 1200 rpm, a maximum of the indicator isothermal efficiency and compressor feed rate is observed; maximum indicator isothermal efficiency and the supply ratio is observed at a coolant flow rate in the range from 800 mL/min to 900 mL/min.

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“…A more accurate and detailed mathematical model is required. It is necessary to verify the model thus created with experimental results [7][8][9][10][11][12][13].…”

Section: Introductionmentioning

confidence: 99%

Modelling and Simulation of Electropneumatic Positioning System Including the Length of Pneumatic Lines

Iliev¹,

Hristov

2023

ETR

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This paper presents a mathematical model of electropneumatic positioning system including the length of pneumatic lines for the determination of flow and pressure in unsteady operating modes. A simulation model is developed to study the dynamic processes in an electropneumatic positioning system. Simulation of the mathematical models of the screw compressor, proportional directional valve, pneumatic lines, pneumatic cylinder and PID controller were designed in “MatLab Simulink”. The simulation models of the transients in the electropneumatic positioning system at different line lengths from 1m and 10m with stepwise variation of the input setpoint are simulated developed. Graphical comparison is made of the obtained experimental results and simulation model influence of the pneumatic line length on the dynamics of the electropneumatic positioning system are made.

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Design and Mathematical Modeling of a Pneumatic Artificial Muscle-Actuated System for Industrial Manipulators

Cited by 8 publications

References 15 publications

Design, Construction and Control of a Manipulator Driven by Pneumatic Artificial Muscles

Design, Construction and Control of a Manipulator Driven by Pneumatic Artificial Muscles

Development and Research of a Promising Pumpless Liquid Cooling System for Reciprocating Compressors

Modelling and Simulation of Electropneumatic Positioning System Including the Length of Pneumatic Lines

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